20130524 hybrid worldsmultirobot_cignonifedi

NATO Modelling & Simulation Centre Of Excellence
LTN Alessandro CIGNONI
PhD Francesco FEDI ITEC 2013
Rome, 24th May 2013
Hybrid Worlds for Multi-Robot
System Simulation
Speakers: PhD Francesco Fedi LT(N) Alessandro Cignoni
Sistemi Software Integrati NATO M&S COE

Rome, 24th May 2013
Complex Operational Scenario
UNMANNED SYSTEMS ARE MORE AND MORE USED IN DIFFERENT KIND OF OPERATIONS, SUCH AS
AREA CLEARING, AREA PATROLLING, INTELLIGENCE, AND SO ON. MULTI-ROBOT SYSTEMS (MRS)
REPRESENT ONE STEP FORWARD FOR A WIDESPREAD USE OF ROBOTS IN MILITARY AND SECURITY
OPERATIONS.

Rome, 24th May 2013
RT-DDS
• The Object Management Group (OMG) has
specified the Real Time Data Distribution
Services (RT-DDS) to address Real-time
Architectures.
• RT-DDS targets high-performance networks.
• RT-DDS changes how to design and set up a
highly-connected, real-time networked
application.
• Reference Standards :
– Data Distribution Service for Real-time
Systems Version 1.2
– The Real-time Publish-Subscribe Wire
Protocol-DDS Interoperability Wire Protocol
Specification, V 2.1, June 2008
AN APPLICATION MAY REGISTER TO
MULTIPLE DOMAINS
BEE DDS PRODUCT IMPLEMENTS
RT-DDS REFERENCE STANDARDS

Rome, 24th May 2013
The BeeDDS Product
THE BEE DDS IS THE SSI PRODUCT THAT PROVIDES FOR A FULL VERSION OF THE DDS OMG STANDARD, WHICH
ADDS SPECIFIC FUNCTIONALITY SUCH AS:
 FULL SUPPORT FOR AD-HOC (NO INFRASTRUCTURE) NETWORKS
 SUPPORT TO DISANVANTAGE/LOW BANDWIDTH NETWORKS
 NATIVE INFORMATION ASSURANCE ACTING AT ALL OF THE DDS INTERNAL PROTOCOLS
BEE DDS IS THE RESULT OF A COHERENT
SET OF RESEARCH PROJECTS
Ministero Difesa: DGAT
BEE-DDS features :
► Strength
► Security
► Scalability
► Predictability
► Adaptivity
► Persistence
BEE DDS SUPPORTS MANY DIFFERENT
PLATFORMS, WHICH COMPOSE NETWORK-
CENTRIC SYSTEMS.

Rome, 24th May 2013
Bee Swarm
 Multi mission, multiplatform (UxV, Intelligent Sensor)
 Autonomously Adapts to changing operational conditions
 Dynamic Task (re-)Allocation
 Robot Coordination and Cooperation
 Autonomous robot fault detection and recovery
Ministero Difesa: DGAT

Rome, 24th May 2013
Robotic Operating System (ROS)
 ROS IS A SOFTWARE FRAMEWORK FOR ROBOT SOFTWARE DEVELOPMENT.
 ROS PROVIDES STANDARD OPERATING SYSTEM SERVICES SUCH AS HARDWARE ABSTRACTION, LOW-LEVEL
DEVICE CONTROL, COMMONLY-USED FUNCTIONALITY, MESSAGE-PASSING BETWEEN PROCESSES.
 ROS PROVIDES ALSO HIGH LEVEL CAPABILITIES SUCH AS SIMULTANEOUS LOCALIZATION AND MAPPING, PATH
PLANNING & CONTROL, SENSOR CONTROL.
 ROS PROVIDES A MULTIROBOT SIMULATION PLATFORM FOR SYSTEM DEBUG AND SET-UP IN VIRTUAL
ENVIRONMENT BEFORE THE DEPLOYMENT ONTO THE PHYSICAL PLATFORMS.

Rome, 24th May 2013
Virtual World Connector VWC
The Virtual Word Connector allows for
synergies between 3D graphic engine and
Data Distribution Services (DDS). The
resulting 3D Engine adopts a data-centric
architecture which allows for:
• Scalable simulations;
• Hybrid simulations: physical & virtual
nodes can cooperate together;
• Evolutionary development: new
features/nodes may be added as plug-ins
of existing scenarios with minimal or not
at all impact on the existing components;
3D Engine
Virtual World Connector
Render
Methods
BEEDDS
Topic
Topic

Rome, 24th May 2013
VWC Demonstrator
Physical Robot
Virtual World Connector
Virtual Robot
via ROS
Simulation Console Operator Console
• The diagram below presents a possible use of Virtual Word Connector. Using the DDS
standard, it allows to represent in a three-dimensional virtual scenario the real-time execution
of a data-centric work session.
• Moreover, it receives data from a session of virtual work in a completely transparent way as if
there were real robots and the simulation console represents the two runs properly.
• It is also possible to generate actions in the virtual world starting from real world solicitations
and vice-versa, in a perspective of "mixed-reality" simulation.

Rome, 24th May 2013
NATO M&S COE Project
• OMG DDS as a technology
for Real Time Distributed
Simulation.
• Modelling & Simulation of Complex Systems in the Operational
Environment.
• Hybrid Worlds for Multi-Robot Simulation.

Rome, 24th May 2013
DDS & HLA
• DDS & HLA similarities
DDS has a publish/subscribe communication
architecture, supports object modelling and the
notion disseminating updates to object instances,
provides support for content based subscriptions
which may be linkened to DDM regions, and
standardizes on the API specification for
portability.
• DDS & HLA differences
DDS does not address with some aspects
addresses by HLA like time management and
federation management. It differs in its support for
object modeling, and ownership management.
DDS otherwise addresses some new aspects
such as: a rich set Quality of Service (QoS)
policies, a strongly typed data model, support for
state propagation including coherent and ordered
data distribution.
HLA DDS
HLA-OMT DDS-DLRL
HLA-RTI (IFSpec) DDS-DCPS
HLA-Rules -
Federation Domain
RTIAmbassador DomainParticipant, Publisher,
DataWriter, Subsciber,
DataReader
FederateAmbassador Listener classes
Object class Keyed Topic
Interaction class Topic (no keys)
Update attribute Write «keyed» instance
Reflect attribute Read/Take «keyed» data samples
Send Interaction Write «non-keyed» instance
Receive Interaction Read/Take «non-keyed» samples
Thanks to Joshi, Castellote Paper «A Comparison and
Mapping of Data Distribution Service and High-Level
Architecture»

Rome, 24th May 2013
Complex Systems in Operations
• Evolution of Unmanned Systems into Autonomous Systems
• ASs in the C4ISTAR Battle Network
• Complex Systems in the Operational Scenario
• Simple Components or Agents (simple relative to whole system)
• Nonlinear interactions among components
• No central Control
• Emergent behaviours
• hierarchical organization
• information processing
• dynamics
• evolution and learning

Rome, 24th May 2013
Complex Systems in Operations
Self-Organization
Production of organized patterns, resulting from localized interactions within
the components of the system, without any central control
• Flocking and Schooling
• Synchronization
• “Foraging”
• Task Allocation

Rome, 24th May 2013
The Leopardo Bee Project
Main Goals of the Leopardo Bee Project
• Use of Real Systems
• Use of DDS for Communication in the Hybrid World
• Implementation/Simulation of Cooperative Algorithms in the
Hybrid World
• Envisioning a Training Interface

Rome, 24th May 2013
The Lopardo Bee Project
Thanks to Italian Army and “Scuola Trasmissioni dell’Esercito”
for the support to the Experimental Activity

Rome, 24th May 2013
Thanks for Your Attention
PhD Francesco Fedi
francesco.fedi@ssi.it
LT (N) Alessandro Cignoni
mscoe.cd06@smd.difesa.it

20130524 hybrid worldsmultirobot_cignonifedi

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